A high-precision self-lubricating ground rail robot

Abstract

The present invention relates to the technical field of industrial robots and discloses a high-precision self-lubricating floor rail robot, comprising a slide rail and a manipulator, wherein a moving assembly for controlling the movement of the manipulator is provided on the inner side of the slide rail and the bottom of the manipulator, wherein the moving assembly is composed of a reduction motor, a slide, a reduction gear and a rack, and a self-lubricating assembly is provided on the slide, wherein the self-lubricating assembly comprises a lubrication pump, a lubrication gear and a connecting pipe. The high-precision self-lubricating floor rail robot is meshed with a lubrication gear through a reduction gear through an auxiliary assembly provided. When the teeth of the reduction gear abut against an interference rod, the interference rod is pushed and retracted into a cavity. The interference rod can control the lubricating oil in the oil storage pipe to be sprayed out through the oil injection pipe through a driven part, thereby lubricating the teeth meshing with the reduction gear, avoiding the lubricating oil being sprayed on the teeth of the lubrication gear that is not meshing with the reduction gear, and the lubricating oil dripping from the lubrication gear, causing waste and pollution.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, in particular to a high-precision self-lubricating floor rail robot. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. In the application of automatic parts screening robots, the robotic arm responsible for grasping parts needs to slide repeatedly and with high intensity on the ground rail. In order to ensure the lubrication of the slide on the ground rail, it is necessary to stop the machine regularly to add lubricating grease to the slide rail and other transmission components.

[0003] For example, a high-precision self-lubricating floor rail robot is published with announcement number CN215789829U. The self-lubricating component of the high-precision self-lubricating floor rail robot is used to provide lubricating oil to the transmission parts of the floor rail component, the reduction gears in the reducer and the movable joints of the manipulator in real time, ensuring that the robot is fully lubricated and increasing its service life. At the same time, it reduces the maintenance work of adding lubricating oil, avoids downtime maintenance due to lubrication, improves equipment utilization, and reduces personnel intervention in the equipment.

[0004] However, during operation, when the lubricating gear is engaged with the reduction gear through the lubricating oil channel opened on the lubricating gear, the lubricating oil on the lubricating gear is applied to the reduction gear. However, the rotation speed of the lubricating gear and the reduction gear is slow, and the lubricating oil on the teeth of the lubricating gear that are not engaged with the reduction gear can easily drip into the slide rail due to its own weight, causing pollution and waste. In addition, the staff still needs to regularly check the amount of lubricating oil in the lubricating pump, which has certain disadvantages. For this reason, we propose a high-precision self-lubricating ground rail robot. Summary of the Invention

[0005] The object of the present invention is to provide a high-precision self-lubricating ground rail robot to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a high-precision self-lubricating ground rail robot, comprising a slide rail and a manipulator, wherein a moving component for controlling the movement of the manipulator is provided on the inner side of the slide rail and the bottom of the manipulator, wherein the moving component is composed of a reduction motor, a slide, a reduction gear and a rack, and a self-lubricating component is provided on the slide, wherein the self-lubricating component comprises a lubrication pump, a lubrication gear and a connecting pipe, and an auxiliary component for assisting lubrication is provided on the lubrication gear, and the auxiliary component is composed of an oil spraying part, a driven part and a blocking part.

[0007] Preferably, the oil injection portion includes a cavity, which is opened in the lubrication gear, the cavity is penetrated by the resistance rod and is slidably connected to the resistance rod, a return spring is fixed on the surface of the resistance rod, and one end of the return spring away from the resistance rod is fixed on the inner wall of the cavity, an oil storage pipe is fixed on the inner wall of the cavity, the bottom of the oil storage pipe is connected to and fixed with a connecting head, the connecting head is connected to an oil injection pipe, and the end of the oil injection pipe away from the connecting head penetrates the cavity and is fixedly connected to the lubrication gear, and meshes with the lubrication gear through the reduction gear. When the teeth of the reduction gear interfere with the resistance rod, the resistance rod is pushed and retracted into the cavity, and the resistance rod can control the lubricating oil in the oil storage pipe to be sprayed through the oil injection pipe through the driven part, so that the teeth meshing with the reduction gear can be lubricated, avoiding lubricating oil spraying on the teeth of the lubrication gear that is not meshed with the reduction gear, and lubricating oil dripping from the lubrication gear, causing waste and pollution.

[0008] Preferably, the driven part includes a moving plate, which is slidably mounted on the inner wall of the cavity, and a rubber rope is fixed on the inner wall of the cavity, and one end of the rubber rope is fixed to the moving plate away from the cavity, and the side surface of the moving plate is made of rubber. Through the friction between the moving plate and the inner wall of the cavity, when the moving plate is no longer in conflict, the moving plate can slowly return to its original position under the action of the rubber rope, and a conflict groove is provided on the top of the moving plate, and a ratchet is provided on the top of the moving plate. The inner wall piston of the oil storage pipe is connected to a pressure plate, and a push rod is fixed on the top of the pressure plate, and the push rod passes through the top of the oil storage pipe and is connected to the oil storage pipe piston. A driven plate is slidably connected to the inner wall of the cavity, and a pawl is provided at the bottom of the driven plate. The driven plate is hinged with a support rod at one end away from the moving plate, and the support rod is hinged to the push rod at one end away from the driven plate. The interference rod is in the interference groove. When the interference rod is retracted into the cavity by the teeth of the reduction gear, the interference rod interferes with the inner wall of the interference groove, pushing the moving plate to move toward the side close to the oil storage pipe. At this time, the ratchet 1 on the top of the moving plate is stuck on the pawl 1 at the bottom of the driven plate, pushing the driven plate to move together, and the driven plate pushes the push rod through the support rod to drive the pressure plate downward, thereby pushing the lubricating oil in the oil storage pipe and flowing out from the connecting head.

[0009] Preferably, the blocking portion includes an extrusion groove, which is opened inside the connecting head, and an iron ball is placed inside the extrusion groove. A magnet is slidably installed on the surface of the connecting head, and a vertical rod is fixed to the bottom of the movable plate. The bottom of the vertical rod is hinged with a connecting rod, and one end of the connecting rod away from the vertical rod is hinged to the surface of the magnet. When the movable plate moves toward the side close to the oil storage pipe, the movable plate drives the vertical rod to move together, and the vertical rod pushes the magnet to move downward through the connecting rod. Under the action of the magnetic force of the magnet itself, the magnet drives the iron ball to move downward together, so that the iron ball no longer blocks the extrusion groove, so that when the push rod drives the pressure plate to move downward, the pressure plate can push the lubricating oil in the oil storage pipe out of the connecting head.

[0010] The cam is fixed on the inner wall of the oil storage pipe, and the cam is provided with a movable frame, and the movable frame includes a movable groove, and the movable groove is opened on the inner wall of the oil storage pipe, and a limited toothed plate is slidably installed on the inner side of the movable groove, and rubber plates are fixed on both sides of the limited toothed plate, and the end of the rubber plate away from the limited toothed plate abuts against the inner wall of the movable groove, and a connecting spring is fixed on the inner side of the movable groove, and the end of the connecting spring away from the movable groove is fixed to the limited toothed plate. A slider is slidably installed on the inner side of the movable groove, and a tension spring is fixed on the top of the slider, and the end of the tension spring away from the slider is fixed on the inner side of the movable groove, and a ratchet 2 is provided on the side of the slider close to the limiting toothed plate, and a triangular block is fixed on the side of the limiting toothed plate close to the slider, and when the pressure plate is pushed downward, the pressure plate abuts on the slider, pushing the slider. When the slider is not pressed downward, the slider can be pushed upward to release the second pawl from the sliding block, thereby releasing the second pawl from the sliding block and causing the slider to be disengaged from the second pawl.

[0011] Preferably, a through groove is provided in the center of the pressure plate, and the through groove is elliptical. A resistance spring is fixed on the inner side of the through groove, and the resistance spring is fixed to the blocking plate at one end away from the through groove. When the lubrication pump injects lubricating oil into the oil storage pipe through the connecting pipe, the lubricating oil exerts pressure on the pressure plate under the action of the tension spring and the slider to lift the pressure plate, pressing the blocking plate to move downward, so that the blocking plate no longer blocks the through groove, so that the lubricating oil injected into the oil storage pipe can move to the bottom of the pressure plate through the through groove. When the pressure plate moves downward, the blocking plate is in a state of blocking the through groove, and the lubricating oil cannot pass through the through groove, so that the pressure plate can exert pressure on the lubricating oil to make it flow out through the connector at the bottom of the oil storage pipe.

[0012] Preferably, the slide is slidably installed on the inner side of the slide rail, the manipulator is arranged on the top of the slide, and a reduction motor is fixed to the top of the slide by bolts. The output shaft of the reduction motor passes through the slide and is fixed to the reduction gear. The reduction gear is engaged with the rack, and the rack is fixed on the inner side of the slide rail. By starting the reduction motor to drive the reduction gear to rotate, the slide can be controlled to drive the manipulator to move on the slide rail.

[0013] Preferably, the lubrication pump passes through the slide and is rotatably connected to the slide. The lubrication pump is fixed on the top of the lubrication gear. The lubrication pump is connected to one end of the connecting pipe, and the other end of the connecting pipe passes through the lubrication gear and is connected to the oil storage pipe. The lubrication pump can add lubricating oil to the oil storage pipe through the connecting pipe.

[0014] Compared with the prior art, the present invention provides a high-precision self-lubricating ground rail robot with the following beneficial effects:

[0015] 1. This high-precision self-lubricating ground rail robot, through the auxiliary components set up, meshes with the lubrication gear through the reduction gear. When the teeth of the reduction gear abut against the resistance rod, the resistance rod is pushed and retracted into the cavity. The resistance rod can control the lubricating oil in the oil storage pipe through the driven part to spray out through the oil injection pipe, thereby lubricating the teeth meshing with the reduction gear, avoiding the lubricating oil from being sprayed on the teeth of the lubrication gear that is not meshing with the reduction gear, and the lubricating oil dripping from the lubrication gear, causing waste and pollution.

[0016] 2. This high-precision self-lubricating rail robot, through the provided driven part and blocking part, can drive the moving plate to move together by the contact moving plate when the resistance rod is retracted into the cavity, thereby controlling the pressure plate to move downward in the oil storage pipe to press the lubricating oil. At the same time, the iron ball can be controlled to no longer block the connecting head, so that the lubricating oil can be sprayed out normally, and the lubricating oil can be controlled to be sprayed out only when pressed, avoiding waste of lubricating oil.

[0017] 3. This high-precision self-lubricating ground rail robot resets its teeth under the action of the reset spring when the teeth of the reduction gear no longer mesh with the corresponding teeth of the lubrication gear. The resistance rod moves within the resistance groove on the top of the movable plate, but does not drive the movable plate to move and reset. As a result, when the teeth of the reduction gear mesh with the corresponding teeth of the lubrication gear again, only the resistance rod can be pushed to move, and lubrication will not be performed again, thus avoiding excessive lubrication and waste of lubricating oil. As the robot continues to work, the movable plate gradually resets under the action of the rubber rope, and the resistance rod can once again contact the movable plate, thereby resuming the lubrication operation.

[0018] When the slider is not pressed downward, the slider moves upward and is reset by the action of the tension spring, but the rubber plate on the side of the limiting tooth plate conflicts with the inner wall of the moving groove, increasing the friction force, thereby slowing down the speed of resetting the limiting tooth plate, and thus will not affect the normal reset of the slider. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the front view structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the connection structure between the manipulator and the mobile component of the present invention;

[0021] Figure 3 This is a schematic structural diagram of the self-lubricating component of the present invention;

[0022] Figure 4 This is a schematic diagram of the cross-sectional top view of the lubricating gear of the present invention;

[0023] Figure 5 Schematic diagram of the connection structure between the fuel injection part and the driven part of the present invention;

[0024] Figure 6 For the present invention Figure 5 Middle A is a schematic diagram of the enlarged structure;

[0025] Figure 7 This is a schematic diagram of the internal cavity structure of the lubricating gear of the present invention;

[0026] Figure 8 This is a schematic diagram of the cross-sectional structure of the oil storage pipe of the present invention;

[0027] Figure 9 This is a schematic diagram of the structure of the movable groove on the inner wall of the oil storage pipe of the present invention;

[0028] Figure 10 This is a schematic diagram of the cross-sectional structure of the connection between the connector and the blocking portion of the present invention;

[0029] Figure 11 This is a schematic diagram of the cross-sectional structure of the pressing plate of the present invention;

[0030] Figure 12 This is a schematic structural diagram of the driven component of the present invention;

[0031] Figure 13 This is a schematic diagram of the structure of the slider and the pawl of the present invention;

[0032] Figure 14 This is a schematic diagram of the structure of the limiting tooth plate and the rubber plate of the present invention.

[0033] In the figure: 1. Slide rail; 2. Self-lubricating assembly; 21. Lubrication pump; 22. Lubrication gear; 23. Connecting pipe; 3. Oil spraying part; 31. Cavity; 32. Resistance rod; 33. Return spring; 34. Oil storage pipe; 35. Connecting head; 36. Oil spraying pipe; 4. Follower; 41. Moving plate; 42. Resistance groove; 43. Ratchet 1; 44. Pressure plate; 45. Push rod; 46. Follower plate; 47. Ratchet 1; 48. Support rod; 49. Rubber rope; 5. Blocking part ;51. Extrusion groove; 52. Iron ball; 53. Magnet; 54. Vertical rod; 55. Connecting rod; 6. Moving assembly; 61. Reducer motor; 62. Slide; 63. Reducer gear; 64. Rack; 7. Driven assembly; 71. Moving groove; 72. Limiting tooth plate; 73. Rubber plate; 74. Connecting spring; 75. Slider; 76. Tension spring; 77. Ratchet 2; 78. Triangle block; 8. Through groove; 9. Resistance spring; 10. Blocking plate; 13. Robot arm. DETAILED DESCRIPTION

[0034] like Figures 1-14 As shown, the present invention provides a technical solution: a high-precision self-lubricating ground rail robot, including a slide rail 1 and a manipulator 13, a moving component 6 for controlling the movement of the manipulator 13 is provided on the inner side of the slide rail 1 and the bottom of the manipulator 13, the moving component 6 is composed of a reduction motor 61, a slide 62, a reduction gear 63 and a rack 64, a self-lubricating component 2 is provided on the slide 62, the self-lubricating component 2 includes a lubrication pump 21, a lubrication gear 22 and a connecting pipe 23, an auxiliary component for auxiliary lubrication is provided on the lubrication gear 22, and the auxiliary component is composed of an oil spray part 3, a driven part 4 and a blocking part 5.

[0035] The oil injection portion 3 includes a cavity 31, which is opened in the lubrication gear 22. The cavity 31 is penetrated by the resistance rod 32 and is slidably connected to the resistance rod 32. A return spring 33 is fixed to the surface of the resistance rod 32. The end of the return spring 33 away from the resistance rod 32 is fixed to the inner wall of the cavity 31. An oil storage pipe 34 is fixed to the inner wall of the cavity 31. The bottom of the oil storage pipe 34 is connected to and fixed with a connector 35. The connector 35 is connected to an oil injection pipe 36. The end of the oil injection pipe 36 away from the connector 35 penetrates the cavity 31 and is connected to the lubrication gear 22. The gear 22 is fixedly connected and meshes with the lubrication gear 22 through the reduction gear 63. When the teeth of the reduction gear 63 abut against the abutting rod 32, the abutting rod 32 is pushed and retracted into the cavity 31. The abutting rod 32 can control the lubricating oil in the oil storage pipe 34 to be sprayed out through the oil injection pipe 36 through the driven part 4, thereby lubricating the teeth meshing with the reduction gear 63, avoiding the lubricating oil from being sprayed on the teeth of the lubrication gear 22 that is not meshing with the reduction gear 63, and the lubricating oil from dripping from the lubrication gear 22, causing waste and pollution.

[0036] The driven part 4 includes a moving plate 41, which is slidably mounted on the inner wall of the cavity 31. A rubber rope 49 is fixed to the inner wall of the cavity 31. The end of the rubber rope 49 away from the cavity 31 is fixed to the moving plate 41. The side of the moving plate 41 is made of rubber. Through the friction between the moving plate 41 and the inner wall of the cavity 31, when the moving plate 41 is no longer in conflict, the moving plate 41 can slowly return to its original position under the action of the rubber rope 49. A conflict groove 42 is provided on the top of the moving plate 41, and a ratchet 43 is provided on the top of the moving plate 41. The inner wall piston of the oil storage pipe 34 is connected to a pressure plate 44. A push rod 45 is fixed to the top of the pressure plate 44. The push rod 45 passes through the top of the oil storage pipe 34 and is connected to the piston of the oil storage pipe 34. The driven part 4 is slidably connected to the inner wall of the cavity 31. Plate 46, a pawl 47 is provided at the bottom of the driven plate 46, and the end of the driven plate 46 away from the moving plate 41 is hinged with a support rod 48, and the end of the support rod 48 away from the driven plate 46 is hinged to the push rod 45, and the interference rod 32 is in the interference groove 42. When the interference rod 32 is retracted into the cavity 31 by the teeth of the reduction gear 63, the interference rod 32 interferes with the inner wall of the interference groove 42, pushing the moving plate 41 to move toward the side close to the oil storage pipe 34. At this time, the ratchet 43 at the top of the moving plate 41 is stuck on the pawl 47 at the bottom of the driven plate 46, pushing the driven plate 46 to move together, and the driven plate 46 pushes the push rod 45 through the support rod 48 to drive the pressure plate 44 to move downward, so that the lubricating oil in the oil storage pipe 34 can be pushed to flow out from the connecting head 35.

[0037] The blocking portion 5 includes an extrusion groove 51, which is opened inside the connecting head 35, and an iron ball 52 is placed inside the extrusion groove 51. A magnet 53 is slidably installed on the surface of the connecting head 35, and a vertical rod 54 is fixed to the bottom of the movable plate 41. The bottom of the vertical rod 54 is hinged with a connecting rod 55, and one end of the connecting rod 55 away from the vertical rod 54 is hinged to the surface of the magnet 53. When the movable plate 41 moves toward the side close to the oil storage pipe 34, the movable plate 41 drives the vertical rod 54 to move together, and the vertical rod 54 pushes the magnet 53 downward through the connecting rod 55. Under the magnetic force of the magnet 53 itself, the magnet 53 drives the iron ball 52 to move downward together, so that the iron ball 52 no longer blocks the extrusion groove 51, so that when the push rod 45 drives the pressure plate 44 to move downward, the pressure plate 44 can push the lubricating oil in the oil storage pipe 34 out of the connecting head 35.

[0038] The interior of the oil storage pipe 34 is provided with a driven assembly 7, which includes a moving groove 71. The moving groove 71 is opened on the inner wall of the oil storage pipe 34. A limit tooth plate 72 is slidably installed on the inner side of the moving groove 71. Rubber plates 73 are fixed on both sides of the limit tooth plate 72. The end of the rubber plate 73 away from the limit tooth plate 72 abuts against the inner wall of the moving groove 71. A connecting spring 74 is fixed on the inner side of the moving groove 71. The end of the connecting spring 74 away from the moving groove 71 is fixed to the limit tooth plate 72. The top of the slider 75 is fixed with a tension spring 76, and the end of the tension spring 76 away from the slider 75 is fixed to the inner side of the moving groove 71. The slider 75 is provided with a second ratchet 77 on the side of the limiting tooth plate 72, and a triangular block 78 is fixed on the side of the limiting tooth plate 72 close to the slider 75. When the pressure plate 44 is pushed downward, the pressure plate 44 contacts the slider 75, pushing the slider 75 to move downward together. At this time, the slider 75 If locking sill 752 snap on the positioning plate 74 away from that locking mouth 741 of latch lock, then lock core 71 is in the state that stretches out guide pinion 74, and latch lock 7 is in the state that stretches out guide pinion 75 and is in the state that stretches out guide pinion 75, and latch lock 7 is in the state that stretches out guide pinion 7 is in the state that stretches out.

[0039] A through slot 8 is provided at the center of the pressure plate 44. The through slot 8 is elliptical, and a resistance spring 9 is fixed on the inner side of the through slot 8. The end of the resistance spring 9 away from the through slot 8 is fixed to the blocking plate 10. When the lubrication pump 21 injects lubricating oil into the oil storage pipe 34 through the connecting pipe 23, the lubricating oil exerts pressure on the pressure plate 44 under the action of the tension spring 76 and the slider 75 to lift the pressure plate 44, pressing the blocking plate 10 to move downward, so that the blocking plate 10 no longer blocks the through slot 8, so that the lubricating oil injected into the oil storage pipe 34 can move to the bottom of the pressure plate 44 through the through slot 8. When the pressure plate 44 moves downward, the blocking plate 10 is in a state of blocking the through slot 8, and the lubricating oil cannot pass through the through slot 8, so that the pressure plate 44 can exert pressure on the lubricating oil, so that it flows out through the connector 35 at the bottom of the oil storage pipe 34.

[0040] The slide 62 is slidably installed on the inner side of the slide rail 1, and the manipulator 13 is arranged on the top of the slide 62. The top of the slide 62 is fixed with a reduction motor 61 by bolts. The output shaft of the reduction motor 61 passes through the slide 62 and is fixed to the reduction gear 63. The reduction gear 63 is engaged with the rack 64, and the rack 64 is fixed on the inner side of the slide rail 1. By starting the reduction motor 61 to drive the reduction gear 63 to rotate, the slide 62 can be controlled to drive the manipulator 13 to move on the slide rail 1.

[0041] The lubrication pump 21 passes through the slide 62 and is rotatably connected to the slide 62. The lubrication pump 21 is fixed on the top of the lubrication gear 22. The lubrication pump 21 is connected to one end of the connecting pipe 23. The other end of the connecting pipe 23 passes through the lubrication gear 22 and is connected to the oil storage pipe 34. The lubrication pump 21 can add lubricating oil to the oil storage pipe 34 through the connecting pipe 23.

[0042] Based on the above embodiment, when the reduction motor 61 is driven to work, the reduction motor 61 drives the reduction gear 63 to rotate, thereby controlling the slide 62 to move along the slide rail 1 with the manipulator 13. In this process, the reduction gear 63 is engaged with the lubrication gear 22, and the reduction gear 63 drives the lubrication gear 22 to rotate together. When the teeth of the reduction gear 63 are engaged with the teeth of the lubrication gear 22, the contact rod 32 is contacted by the teeth of the reduction gear 63 and retracted into the cavity 31. The contact rod 32 is retracted into the cavity 31 by the teeth of the reduction gear 63. The push-button groove 42 controls the movable plate 41 to move toward the side close to the oil storage pipe 34. At this time, the ratchet 43 on the top of the movable plate 41 is stuck on the pawl 47 at the bottom of the driven plate 46, pushing the driven plate 46 to move together. The driven plate 46 pushes the push rod 45 through the support rod 48 to drive the pressure plate 44 to move downward, so that the lubricating oil in the oil storage pipe 34 can be pushed to flow out from the connecting head 35, and the lubricating oil is then sprayed out through the oil spray pipe 36 to lubricate the corresponding meshing teeth of the reduction gear 63.

[0043] When the movable plate 41 moves toward the side close to the oil storage pipe 34, the movable plate 41 drives the vertical rod 54 to move together, and the vertical rod 54 pushes the magnet 53 to move downward through the connecting rod 55. Under the magnetic force of the magnet 53 itself, the magnet 53 drives the iron ball 52 to move downward, so that the iron ball 52 no longer blocks the extrusion groove 51, so that when the push rod 45 drives the pressure plate 44 to move downward, the pressure plate 44 can push the lubricating oil in the oil storage pipe 34 out of the connecting head 35.

[0044] When the teeth of the reduction gear 63 are no longer in mesh with the teeth corresponding to the lubrication gear 22, the abutment rod 32 is reset under the action of the reset spring 33, and the abutment rod 32 moves in the abutment groove 42 at the top of the movable plate 41, without driving the movable plate 41 to move and reset. As a result, when the teeth of the reduction gear 63 are again in mesh with the teeth corresponding to the lubrication gear 22, only the abutment rod 32 can be pushed to move, and the lubrication operation will not be performed again, thus avoiding excessive lubrication and waste of lubricating oil. As the operation continues, the movable plate 41 gradually returns to its original position under the action of the rubber rope 49, and the abutment rod 32 can again abut against the movable plate 41, thereby performing the lubrication operation again.

[0045] When the pressing plate 44 is pushed downward, the pressing plate 44 contacts the slider 75, pushing the slider 75 downward together. At this time, the second pawl 77 on the slider 75 contacts the limiting tooth plate 72, so that when the pressing plate 44 does not apply downward pressure to the slider 75, the slider 75 cannot return to its original position under the action of the tension spring 76. As the pressing plate 44 is gradually pushed, the pressing plate 44 contacts the slider 75 and moves to the position of the triangular block 78. The slider 75 can push the limiting tooth plate 72 to the side away from the slider 75 by contacting the triangular block 78. When locking sill 75 and locking sill 77 are in place, latch lock 7 is in the event of a problem in the latching mechanism, and latch lock 7 is in the event of a problem, the latch being in the event of a problem and being locked.

[0046] When the lubrication pump 21 injects lubricating oil into the oil storage pipe 34 through the connecting pipe 23, the lubricating oil exerts pressure on the pressure plate 44 under the action of the tension spring 76 and the slider 75 to lift the pressure plate 44, pressing the blocking plate 10 to move downward, so that the blocking plate 10 no longer blocks the through groove 8, so that the lubricating oil injected into the oil storage pipe 34 can move to the bottom of the pressure plate 44 through the through groove 8. When the pressure plate 44 moves downward, the blocking plate 10 is in a state of blocking the through groove 8, and the lubricating oil cannot pass through the through groove 8, so that the pressure plate 44 can exert pressure on the lubricating oil, so that it flows out through the connector 35 at the bottom of the oil storage pipe 34.

[0047] The above generally describes the present invention in detail. However, it is obvious to those skilled in the art that modifications or improvements may be made based on the present invention. Therefore, modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A high-precision self-lubricating ground rail robot, comprising a slide rail (1) and a manipulator (13), characterized in that: A moving assembly (6) for controlling the movement of the manipulator (13) is provided on the inner side of the slide rail (1) and the bottom of the manipulator (13), wherein the moving assembly (6) is composed of a reduction motor (61), a slide (62), a reduction gear (63) and a rack (64); a self-lubricating assembly (2) is provided on the slide (62), wherein the self-lubricating assembly (2) includes a lubrication pump (21), a lubrication gear (22) and a connecting pipe (23); an auxiliary assembly for auxiliary lubrication is provided on the lubrication gear (22), wherein the auxiliary assembly is composed of an oil spraying part (3), a driven part (4) and a blocking part (5); The oil injection portion (3) includes a cavity (31), the cavity (31) is opened in the lubricating gear (22), the cavity (31) is penetrated by the resisting rod (32) and is slidably connected to the resisting rod (32), a return spring (33) is fixed on the surface of the resisting rod (32), the end of the return spring (33) away from the resisting rod (32) is fixed on the inner wall of the cavity (31), an oil storage pipe (34) is fixed on the inner wall of the cavity (31), the bottom of the oil storage pipe (34) is connected to and fixed with a connector (35), the connector (35) is connected to an oil injection pipe (36), and the end of the oil injection pipe (36) away from the connector (35) penetrates the cavity (31) and is fixedly connected to the lubricating gear (22); The driven part (4) includes a moving plate (41), the moving plate (41) is slidably mounted on the inner wall of the cavity (31), a rubber rope (49) is fixed to the inner wall of the cavity (31), and one end of the rubber rope (49) away from the cavity (31) is fixed to the moving plate (41), a top of the moving plate (41) is provided with a resistance groove (42), a top of the moving plate (41) is provided with a ratchet (43), and the inner wall piston of the oil storage pipe (34) is connected to a pressure plate (44 ), a push rod (45) is fixed on the top of the pressure plate (44), the push rod (45) passes through the top of the oil storage pipe (34) and is connected to the piston of the oil storage pipe (34), a driven plate (46) is slidably connected to the inner wall of the cavity (31), a ratchet (47) is provided at the bottom of the driven plate (46), and a support rod (48) is hinged at one end of the driven plate (46) away from the moving plate (41), and the support rod (48) is hinged to the push rod (45) at one end away from the driven plate (46); The blocking portion (5) includes an extrusion groove (51), the extrusion groove (51) is opened inside the connecting head (35), an iron ball (52) is placed inside the extrusion groove (51), a magnet (53) is slidably mounted on the surface of the connecting head (35), a vertical rod (54) is fixed to the bottom of the movable plate (41), a connecting rod (55) is hinged to the bottom of the vertical rod (54), and one end of the connecting rod (55) away from the vertical rod (54) is hinged to the surface of the magnet (53).

2. A high-precision self-lubricating ground rail robot according to claim 1, characterized in that: A driven component (7) is provided inside the oil storage pipe (34), and the driven component (7) includes a movable groove (71). The movable groove (71) is opened on the inner wall of the oil storage pipe (34), and a limiting tooth plate (72) is slidably installed on the inner side of the movable groove (71). Rubber plates (73) are fixed on both sides of the limiting tooth plate (72), and one end of the rubber plate (73) away from the limiting tooth plate (72) contacts the inner wall of the movable groove (71). A connecting spring (74) is fixed on the inner side of the movable groove (71). The end of the connecting spring (74) away from the movable groove (71) is fixed to the limiting tooth plate (72), and a slider (75) is slidably installed on the inner side of the movable groove (71). A tension spring (76) is fixed on the top of the slider (75), and the end of the tension spring (76) away from the slider (75) is fixed to the inner side of the movable groove (71). A second ratchet (77) is provided on the side of the slider (75) close to the limiting tooth plate (72), and a triangular block (78) is fixed on the side of the limiting tooth plate (72) close to the slider (75).

3. The high-precision self-lubricating ground rail robot according to claim 1, characterized in that: A through slot (8) is provided at the center of the pressure plate (44), and the through slot (8) is elliptical. A resisting spring (9) is fixed inside the through slot (8), and one end of the resisting spring (9) away from the through slot (8) is fixed to the blocking plate (10).

4. The high-precision self-lubricating ground rail robot according to claim 1, characterized in that: The slide (62) is slidably mounted on the inner side of the slide rail (1), the manipulator (13) is arranged on the top of the slide (62), the top of the slide (62) is fixed with a reduction motor (61) by bolts, the output shaft of the reduction motor (61) passes through the slide (62) and is fixed to the reduction gear (63), the reduction gear (63) is engaged with the rack (64), and the rack (64) is fixed on the inner side of the slide rail (1).

5. The high-precision self-lubricating ground rail robot according to claim 1, characterized in that: The lubrication pump (21) passes through the slide (62) and is rotatably connected to the slide (62). The lubrication pump (21) is fixed to the top of the lubrication gear (22). The lubrication pump (21) is connected to one end of the connecting pipe (23). The other end of the connecting pipe (23) passes through the lubrication gear (22) and is connected to the oil storage pipe (34).

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